First of stop driving it. Second, if you are not able have someone check all of the lug nuts on every wheel . Third , if these are the original tires maybe one has a separation problem . Fourth , You may have a serious steering linkage which could be catastrophic.

There’s a list of things that could be wrong here. Some are minor and some could be really dangerous. If it’s not loose lug nuts, then VOLVO_V70 is correct that this car needs to be inspected right away.